Delta RMC101 - Manual (Page 64)

Appendix C: An Example RMC100 Startup Guide
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− The detail window in the plot may be opened by clicking Show Detail
Window on the Data menu. The detail window provides much useful
information.
− In this plot, the colored lines represent:
Red ........................................... Actual Position
Dark Blue-Green ...................... Target Position (Desired Position)
Blue .......................................... Actual Speed
Pink .......................................... Target Speed
Green........................................ Drive Output (volts)
Yellow ...................................... Pressure
− Note the Sum Error 2 . This number gives an indication of the position
error throughout the entire move. If the same move is repeated, this
value can be compared to previous moves to determine whether the
control has improved or worsened. If the number decreases, the
control has improved.
• If the system controls fairly well, which this one does, increase the speed.
Here it is increased to 20.000 in/sec. The plot time can also be reduced to
2.
• Increase the proportional gain until some oscillation appears, then back off
10-20%. On this system that point is about 70. The plot looks like this:
− The Sum Error 2
decreased from 53 million to 27 million.